Design of Walking Machines
The configurations of the electromechanical system, and the information and sensing systems, the geometry of the machine, and the methods used to coordinate its motions all interact intimately. For this reason the design of a legged locomotion system is c
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Series Editors: The Rectors of CISM Sandor Kaliszky - Budapest Mahir Sayir - Zurich Wilhelm Schneider - Wien The Secretary General of CISM Giovanni Bianchi - Milan Executive Editor Carlo Tasso- Udine
The series presents lecture notes, monographs, edited works and proceedings in the field of Mechanics, Engineering, Computer Science and Applied Mathematics. Purpose of the series is to make known in the international scientific and technical community results obtained in some of the activities organized by CISM, the International Centre for Mechanical Sciences.
INTERNATIONAL CENTRE FOR MECHANICAL SCIENCES COURSES AND LECTURES - No. 375
HUMAN AND MACHINE LOCOMOTION
EDITED BY
A.MORECKI WARSAW UNIVERSITY OF TECHNOLOGY K.J. WALDRON OHIO STATE UNIVERSITY
~ Springer-Verlag Wien GmbH
Le spese di stampa di questo volume sono in parte coperte da contributi del Consiglio Nazionale delle Ricerche.
This volume contains 166 illustrations
This work is subject to copyright. Ali rights are reserved, whether the whole or part of the material is concerned specifically those of translation, reprinting, re-use of illustrations, broadcasting, reproduction by photocopying machine or similar means, and storage in data banks. © 1997 by Springer-Verlag Wien Originally published by Springer-Verlag Wien New York in 1997
In order to make this volume available as economically and as rapidly as possible the authors' typescripts have been reproduced in their original forms. This method unfortunately has its typographical limitations but it is hoped that they in no way distract the re ader.
ISBN 978-3-211-82905-9 DOI 10.1007/978-3-7091-2674-5
ISBN 978-3-7091-2674-5 (eBook)
PREFACE
A major trend in the study of legged locomotion systems is the creation of better mathematical models and their use in combination with more effective kinematic and dynamic analysis techniques to provide a more precise description. Those same models may also be used as the bases of numerical simulation techniques for use in the design and control of artificial legged locomotion systems. A new possibility is to reverse the process by the construction of artificial mechanical systems that serve as physical models of biological systems, allowing access to parameters that are not directly accessible in biological systems. Traditionally, studies of locomotion biomechanics have been directed at providing basic information that can be used in clinical settings for diagnostic and therapeutic purposes. While this continues to be a major theme, recent technological advances have broadened the applicability of information from such studies. In the past few years many successful walking and running machines have been constructed and tested. This work has led to many new insights into the fundamentals of legged locomotion. Although, to date, practical applications have been few in number, there is great potential, as demonstrated by biological systems. One recurring theme is the construction of a biped machine with human dimensions to provide mobility in constrained en
